EP2955904B1 - Allocation d'adresses de réseau pour utilisateurs du réseau - Google Patents

Allocation d'adresses de réseau pour utilisateurs du réseau Download PDF

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Publication number
EP2955904B1
EP2955904B1 EP14171757.9A EP14171757A EP2955904B1 EP 2955904 B1 EP2955904 B1 EP 2955904B1 EP 14171757 A EP14171757 A EP 14171757A EP 2955904 B1 EP2955904 B1 EP 2955904B1
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EP
European Patent Office
Prior art keywords
router
subnetwork
prefix
network
routers
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EP14171757.9A
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German (de)
English (en)
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EP2955904A1 (fr
Inventor
Harald Albrecht
Hendrik Gerlach
Bernd SCHÖNMÜLLER
Thomas Talanis
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Siemens AG
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Siemens AG
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Publication date
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Priority to EP14171757.9A priority Critical patent/EP2955904B1/fr
Priority to BR102015013321-9A priority patent/BR102015013321B1/pt
Priority to RU2015122119A priority patent/RU2625934C2/ru
Priority to US14/734,113 priority patent/US10091162B2/en
Priority to CN201510316558.5A priority patent/CN105306615B/zh
Publication of EP2955904A1 publication Critical patent/EP2955904A1/fr
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Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L61/00—Network arrangements, protocols or services for addressing or naming
    • H04L61/50—Address allocation
    • H04L61/5092—Address allocation by self-assignment, e.g. picking addresses at random and testing if they are already in use
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L61/00—Network arrangements, protocols or services for addressing or naming
    • H04L61/50—Address allocation
    • H04L61/5007—Internet protocol [IP] addresses
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/46—Interconnection of networks
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L2101/00—Indexing scheme associated with group H04L61/00
    • H04L2101/60—Types of network addresses
    • H04L2101/618—Details of network addresses
    • H04L2101/659—Internet protocol version 6 [IPv6] addresses
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L2101/00—Indexing scheme associated with group H04L61/00
    • H04L2101/60—Types of network addresses
    • H04L2101/668—Internet protocol [IP] address subnets
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L61/00—Network arrangements, protocols or services for addressing or naming

Definitions

  • the invention relates to a method for assigning network addresses for network subscribers of a segmented network with multiple subnets. Furthermore, the invention relates to a router component for carrying out the method.
  • the invention relates to the allocation of network addresses in segmented networks having different subnets connected to a collection network via routing.
  • Networks with such a network topology are often used for machine installations to shield machine-subnets connected thereto sensors and actuators largely from the collection network, thereby enabling both safe and trouble-free machine operation.
  • the collection network links the machines to each other and to other devices such as an engineering system and / or human machine interface (HMI) for monitoring and operating the machines.
  • HMI human machine interface
  • Also in such segmented networks is often required, for example, for diagnostic purposes directly access to automation equipment in the separated subnets.
  • the entire network is designed as an island network.
  • a default router at a top level is missing.
  • an uninterrupted continued operation of the network may be required even if the default router fails.
  • a stable internal address location is desired even without prior planning and / or manual configuration.
  • Multi-link Subnet Support in IPV6 reveals, among other things, the manual configuration of the prefix.
  • IT Information Technology
  • network expertise in operation without any problems and later even easily expand or change, for example, if another machine is installed.
  • IP Internet Protocol
  • Applicative routing uses the subnets, which may be implemented in different technologies, to build a common (new) network layer with its own network addressing.
  • application networks are pre-planned with an engineering tool, for example, so that the available routes can be calculated and loaded into the individual applications.
  • the concept of applicative routing is static in some applications. On-site adjustments during the installation of machines or the expansion of existing machinery are not provided and then always require the entire project, in which the changes must be pre-planned and then loaded from the changed route data in the network participants. However, for practical reasons, the overall project is generally not available on-site, and staff often lack the engineering tools and expertise to operate them.
  • IP Internet Protocol Version 4
  • the invention has for its object to provide an improved method for assigning network addresses for network subscribers of a segmented network with multiple subnets. Furthermore, the invention has for its object to provide a router component for performing the method.
  • network addresses are assigned for network subscribers of a segmented network with a plurality of subnets, the subnets each being connected via a subnet router to a grouping network connecting them.
  • a shared address range is decentrally determined by the subnet routers by exchanging router messages distributed over the collection network, and network addresses for the network users are defined within the address range.
  • the invention thus realizes a decentralized allocation of network addresses by subnet routers in a segmented one Network.
  • an address location is generated without any configuration, whereby neither a central router (root router or default router) nor a manual configuration is required for this.
  • costs for the central router and the configuration of the network are saved and, on the other hand, errors due to a manual configuration are avoided.
  • users do not need expertise in networking and address configuration because the network configures itself. Since manual route configuration is eliminated, there is no need for privileged customization that users are not allowed to do for organizational reasons.
  • An embodiment of the invention provides that a collective network prefix of the network addresses characterizing the collection network is decentrally determined by the subnet routers by exchanging router messages.
  • a prefix is generally understood to mean a network part of network addresses which is the same for all network addresses of a network (or subnet).
  • the term was chosen based on IPv6 (Internet Protocol version 6), but is not limited to IPv6.
  • the decentralized determination of a collective network prefix for the collective network advantageously enables a configuration-free assignment of the subnetworks to the collective network, again without requiring a central router or a configuration of the network.
  • the collection network may itself be a subnetwork of a larger network and as such be characterized by its collection network prefix.
  • a selection policy for selecting a collection network prefix from a set of prefix candidates is preferably provided. From each subnet router is initially independent of the others Subnet routers generated a prefix candidate. Subsequently, the subnet routers determine the collection network prefix by exchanging router messages distributed over the collection network from the set of prefix candidates generated by the subnet routers in accordance with the predetermined selection rule. For example, according to the selection rule, the numerically smallest prefix candidate is selected from a set of prefix candidates as a collective network prefix:
  • This embodiment of the invention advantageously enables a decentralized determination of the collective network prefix that can be implemented easily by the subnet routers.
  • the prefix candidate generated by it is communicated to the other subnet routers through router messages until the subnet router is notified by another subnet router of a prefix candidate that is numerically smaller than that of it generated prefix candidate is. Further, the subnet router replaces the prefix candidate it generates or a prefix candidate replacing the generated prefix candidate with a prefix candidate notified to the subnet router by another subnet router, if that is communicated to the subnet router Prefix candidate numerically smaller than the prefix candidate generated by the subnet router or as the prefix candidate replacing the generated prefix candidate.
  • This configuration causes finally only that subnet router that has generated the smallest prefix candidate of all subnet routers, its prefix candidates over the collection network and all other subnet routers from each of them originally generated prefix candidates replaced by this smallest prefix candidate.
  • the subnet routers have agreed on the smallest generated prefix candidates as the collection network prefix.
  • this agreement allows the subnet routers to be a collection network prefix be reached very quickly. After the agreement, only one subnet router remains "active" in the sense that it continues to communicate the selected collection network prefix through the collection network.
  • each subnet router that notifies a subnet router that reports the selected collection network prefix to the other subnet routers by means of router messages recognizes the selected collection network prefix by router messages to the other subnet Routers until it notifies the selected collection network prefix from another subnet router that has a smaller link-local network address than it has.
  • the aforementioned embodiment of the invention ensures that the role of the "active" subnetwork router, which notifies the selected collection network prefix via the collection network, of a failure or a deregistration of the respective active subnetwork router from another subnetwork router the failure or the logoff recognizes, is taken over. If the failure or the logout of the active subnet router is recognized by several subnet routers at the same time, the subnet routers will become the new active subnet router with the smallest link local network address. In this way, the address location in the network remains advantageously stable, as long as at least one subnet router is still in operation. Only when all subnet routers are switched off or switched off and then restarted, the collective network prefix must be redetermined. This is true as long as no persistent storage is used on the subnet routers.
  • a further embodiment provides that a subnet address range of each subnetwork router is determined and a router message informs the other subnetwork routers of a route into this subnetwork address range.
  • each subnet router will be out of its own Subnet address range determines a subnet prefix for each subnet connected to it by the collection network.
  • This embodiment makes it possible for hosts connected to the collection network to be able to communicate in a configuration-free manner with subnetwork subscribers in subnetworks.
  • Another embodiment of the invention provides that an Internet Protocol is used as a network protocol for data exchange in the network and the network addresses are designed according to the Internet Protocol used. Particularly preferred as the Internet Protocol IPv6 (Internet Protocol Version 6) is used.
  • IPv6 Internet Protocol Version 6
  • An Internet Protocol is advantageously suitable as a network protocol for data exchange in a segmented network, since it provides for the division of the network addresses into a network part (prefix) and a device part.
  • IPv6 is particularly suitable because it already provides suitable means for selecting address ranges, in particular prefixes, via the router advertisements.
  • the router messages are preferably router advertisements according to IPv6.
  • a router component for carrying out the method according to the invention is designed to recognize subnet routers connected to the collection network based on received router messages and to participate in the determination of a collection network prefix according to the invention by evaluating received router messages and generating router messages.
  • a subnet router according to the invention therefore has a router component designed in this way.
  • a subnet router is for example as a programmable logic Controller formed or integrated into a programmable logic controller.
  • FIG. 1 shows a block diagram of a segmented network 1 with multiple subnets 111, each of which is connected via a subnet router 112 to a grouping network 101 connecting them.
  • the network 1 may include other hosts 102 connected to the collection network 101 without router functionality.
  • Such further hosts 102 may include, for example, an engineering system or man-machine interfaces.
  • Each subnet 111 comprises a plurality of subnetwork subscribers 113.
  • the subnetwork subscribers 113 of a subnetwork 111 are input / output units of a machine 114 respectively.
  • Via the subnetwork router 112 of a subnetwork 111 data is transferred from the collection network 101 to the subnetwork 111 and out Subnet 111 transferred to the collection network 101.
  • a plurality of subnets 111 may have the same subnetwork router 112.
  • IPv6 Internet Protocol Version 6
  • Network protocol Internet Protocol
  • FIG. 2 shows a block diagram of a subnetwork router 112.
  • the subnetwork router 112 is realized, for example, as a programmable logic controller.
  • the subnetwork router 112 includes an IP router 120 for IPv6, a router advertisement daemon 121 for sending router advertisements according to IPv6, and a router component 122 for a collection network prefix 201 of IPv6 as described in more detail below.
  • the router advertisement daemon 121 and the router component 122 are implemented as software components of the subnetwork router 112.
  • Subnet routers 112 decentralize a shared address range for network addresses in network 1 by exchanging router advertisements distributed over the network, and determine network addresses for network users within the address range.
  • a user activates the operation of the router component 122 of the associated subnetwork router 112 during the planning phase or, alternatively, when installing a machine 114. In the event that even deeper subnetworks exist on the respective subnet 111, the user activates the router component 122 only on the top level.
  • a subnetwork router 112 determines which of its IP interfaces operates as a so-called upstream interface to the collection network 101; All other IP interfaces act as so-called downstream interfaces to a respective subnetwork 111 connected to the subnetwork router 112.
  • RFC 4193 Request for Comments
  • the subnetwork router 112 extracts suitable subnet prefixes for use on the subnetworks 111, ie on its downstream interfaces.
  • the ULA band will serve a further subdivision.
  • Each subnetwork router 112 also broadcasts the route to the collection network 101 by router advertisement in its own ULA band. This broadcasting is compliant with RFC 4861. This gives IPv6 hosts connected to the collection network the ability to communicate with subnetwork subscribers 113 in subnets 111.
  • a subnetwork router 112 At the start of a subnetwork router 112, it first generates a / 64 prefix from its own ULA band as a prefix candidate for a collection network prefix 201 for the collection network 101.
  • a subnetwork router 112 has not yet listened to another subnetwork router 112, after a short wait, it begins broadcasting router advertisements announcing its prefix candidate to the collection network 101.
  • each subnetwork router 112 evaluates the router advertisements of other subnetwork routers 112 to include prefix information over the collection network 101. According to a selection rule that is identical for all subnet routers 112, these now respectively determine whether they accept a foreign prefix candidate or insist on their own prefix candidate. To do this, you select the respectively numerically smaller prefix candidate from your own prefix candidate and the intercepted prefix candidate.
  • the affected subnetwork router 112 withdraws its own prefix candidate, which it has previously announced, in a controlled manner, by terminating it in RFC-compliant fashion with a lifecycle set to zero.
  • the newly adopted prefix candidate will initially not be notified via router advertisement via the collection network 101, but rather the relevant subnet router changes to a "quiet" mode, in which he tells his subnet route, but not the new prefix candidates on the collection network 101.
  • a silent subnetwork router 112 recognizes the logout or the failure of the active subnetwork router 112, it in turn switches to the active operating phase. In this case, it is possible for several subnet routers 112 to become active almost simultaneously. This situation is evident to a subnetwork router 112 in that it is listening to the same collection network prefix 201 that it is broadcasting itself. In this case, those active subnet routers 112 go into silent mode listening to a subnet router 112 notifying collection network prefix 201, which has a smaller link local IPv6 address than it has.
  • this mechanism it is achieved that only a collection network prefix 201 is broadcast and used on the collection network 101. At the same time, this collection network prefix 201 is permanent as long as at least one subnetwork router 112 is still operating.
  • the lifetime of the collection network prefix 201 is evaluated on the collection network 101, which life is included in the decision of a subnetwork router 112 to withdraw from the selection of the collection network prefix 201.
  • the prefix candidate which is initially generated for itself, is assigned a very short lifetime, for example in the minute range.
  • Silent Subnet Router 112 In addition, not only remember the valid collective network prefix 201, but also its lifetime. With this they are able, if they have to become active, to correctly preserve the lifetime of the collection network prefix 201.
  • a subnetwork router 112 If a subnetwork router 112 is active, then it upsets the lifetime of the prefix candidate or collection network prefix 201 it generates if it is listening to another subnetwork router 112 that has a higher IPv6 address than it does. This ensures that a confirmed collective network prefix 201 is still maintained due to its longer service life even if a new subnet router 112 with a smaller IPv6 address than heretofore is added by device replacement.
  • the router component 122 of a subnetwork router 112 controls the router advertisements to be broadcast by the router advertisement daemon 121 of the subnetwork router 112 and configures the upstream interface of the subnetwork router 112 with the selected collection network prefix 201 accordingly.

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Data Exchanges In Wide-Area Networks (AREA)

Claims (14)

  1. Procédé pour allouer des adresses de réseau pour des utilisateurs du réseau d'un réseau segmenté (1) comportant plusieurs sous-réseaux (111), qui sont raccordés chacun par un routeur de sous-réseau (112) à un réseau collectif (101) qui les relie, dans lequel une zone d'adresse commune est déterminée de façon décentralisée par les routeurs de sous-réseau (112) par un échange d'informations de routeurs distribuées sur le réseau collectif (101) et des adresses de réseau pour les utilisateurs du réseau sont fixées à l'intérieur de la zone d'adresse.
  2. Procédé selon la revendication 1, caractérisé en ce qu'un préfixe de réseau collectif (201) des adresses de réseau caractérisant le réseau collectif (101) est déterminé de façon décentralisée par les routeurs de sous-réseau (112) entre eux par l'échange des informations de routeurs.
  3. Procédé selon la revendication 2, caractérisé en ce que l'on émet une prescription de sélection pour la sélection d'un préfixe de réseau collectif (201) parmi une masse de préfixes candidats, chaque routeur de sous-réseau (112) génère un préfixe candidat d'abord indépendamment des autres routeurs de sous-réseau (112), et on détermine ensuite par les routeurs de sous-réseau (112), selon la prescription de sélection émise, le préfixe de réseau collectif (201) par l'échange des informations de routeurs distribuées sur le réseau collectif (101) parmi la masse des préfixes candidats générés par les routeurs de sous-réseau (112).
  4. Procédé selon la revendication 2 ou 3, caractérisé en ce que l'on sélectionne comme préfixe de réseau collectif (201) le préfixe candidat numériquement le plus petit parmi une masse de préfixes candidats, conformément à la prescription de sélection.
  5. Procédé selon la revendication 4, caractérisé en ce que le préfixe candidat généré par lui-même est communiqué par chaque routeur de sous-réseau (112) aux autres routeurs de sous-réseau (112) par des informations de routeur jusqu'à ce qu'un préfixe candidat soit communiqué au routeur de sous-réseau (112) par un autre routeur de sous-réseau (112), qui est numériquement plus petit que le préfixe candidat généré par lui-même, et en ce que le préfixe candidat généré par lui-même ou un préfixe candidat remplaçant le préfixe candidat généré est remplacé par le routeur de sous-réseau (112) par un préfixe candidat communiqué au routeur de sous-réseau (112) par un autre routeur de sous-réseau (112), dans le cas où le préfixe candidat communiqué au routeur de sous-réseau (112) est numériquement plus petit que le préfixe candidat généré par le routeur de sous-réseau (112) ou que le préfixe candidat remplaçant le préfixe candidat généré.
  6. Procédé selon la revendication 5, caractérisé en ce que chaque routeur de sous-réseau (112), qui reconnaît une fin de session ou une coupure d'un routeur de sous-réseau (112) qui communique le préfixe de réseau collectif sélectionné (201) aux autres routeurs de sous-réseau (112) au moyen d'informations de routeur, communique le préfixe de réseau collectif sélectionné (201) par des informations de routeur aux autres routeurs de sous-réseau (112) jusqu'à ce que le préfixe de réseau collectif sélectionné (201) lui soit communiqué par un autre routeur de sous-réseau (112), qui possède une adresse de réseau link-local plus petite que lui.
  7. Procédé selon l'une quelconque des revendications précédentes, caractérisé en ce qu'une zone d'adresse de sous-réseau propre est déterminée par chaque routeur de sous-réseau (112) et une route dans cette zone d'adresse de sous-réseau est communiquée aux autres routeurs de sous-réseau (112) par une information de routeur.
  8. Procédé selon la revendication 7, caractérisé en ce qu'un préfixe de sous-réseau est déterminé par chaque routeur de sous-réseau (112) à partir de sa zone d'adresse de sous-réseau pour chaque sous-réseau (111) raccordé par lui-même au réseau collectif (101).
  9. Procédé selon l'une quelconque des revendications précédentes, caractérisé en ce que l'on utilise un protocole Internet comme protocole de réseau pour l'échange de données dans le réseau et les adresses de réseau sont configurées conformément au protocole Internet utilisé.
  10. Procédé selon la revendication 9, caractérisé en ce que l'on utilise comme protocole Internet le protocole Internet version 6.
  11. Procédé selon la revendication 10, caractérisé en ce que les informations de routeur sont des annonces de routeur selon le protocole Internet version 6.
  12. Composant de routeur (122) pour la mise en oeuvre du procédé selon l'une quelconque des revendications précédentes, dans lequel le composant de routeur (122) est configuré pour reconnaître, à l'aide d'informations de routeur reçues, des routeurs de sous-réseau (112) raccordés au réseau collectif (101) et pour coopérer à la détermination d'un préfixe de réseau collectif (201) selon l'une quelconque des revendications 3 à 5, par évaluation d'informations de routeur reçues et production d'informations de routeur.
  13. Routeur de sous-réseau (112) avec un composant de routeur (122) selon la revendication 12.
  14. Routeur de sous-réseau (112) selon la revendication 13, caractérisé en ce que le routeur de sous-réseau (112) est conçu comme une commande logique programmable ou est intégré dans une commande logique programmable.
EP14171757.9A 2014-06-10 2014-06-10 Allocation d'adresses de réseau pour utilisateurs du réseau Active EP2955904B1 (fr)

Priority Applications (5)

Application Number Priority Date Filing Date Title
EP14171757.9A EP2955904B1 (fr) 2014-06-10 2014-06-10 Allocation d'adresses de réseau pour utilisateurs du réseau
BR102015013321-9A BR102015013321B1 (pt) 2014-06-10 2015-06-08 Método para alocar endereços de rede para assinantes de rede em uma rede segmentada, componente do roteador, e, roteador de sub-rede
RU2015122119A RU2625934C2 (ru) 2014-06-10 2015-06-09 Предоставление сетевых адресов сетевым абонентам
US14/734,113 US10091162B2 (en) 2014-06-10 2015-06-09 Allocation of network addresses for network subscribers
CN201510316558.5A CN105306615B (zh) 2014-06-10 2015-06-10 为网络用户分配网络地址的方法

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Application Number Priority Date Filing Date Title
EP14171757.9A EP2955904B1 (fr) 2014-06-10 2014-06-10 Allocation d'adresses de réseau pour utilisateurs du réseau

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EP2955904A1 EP2955904A1 (fr) 2015-12-16
EP2955904B1 true EP2955904B1 (fr) 2016-10-19

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EP (1) EP2955904B1 (fr)
CN (1) CN105306615B (fr)
RU (1) RU2625934C2 (fr)

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EP3544265A1 (fr) 2018-03-19 2019-09-25 Siemens Aktiengesellschaft Procédé de fourniture de services par l'intermédiaire d'un système serveur à des appareils d'automatisation d'un système d'automatisation industrielle et unité de configuration
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CN101753635A (zh) 2008-12-17 2010-06-23 华为技术有限公司 Ipv6地址配置方法和系统
JP5613239B2 (ja) 2009-08-13 2014-10-22 インターナショナル・ビジネス・マシーンズ・コーポレーションＩｎｔｅｒｎａｔｉｏｎａｌ Ｂｕｓｉｎｅｓｓ Ｍａｃｈｉｎｅｓ Ｃｏｒｐｏｒａｔｉｏｎ Ｉｐネットワークのためのアドレス範囲自動検出

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3462710A1 (fr) 2017-09-29 2019-04-03 Siemens Aktiengesellschaft Procédé de préparation d'un service de dénomination dans un système de communication industrielle et commutateur
WO2019063217A1 (fr) 2017-09-29 2019-04-04 Siemens Aktiengesellschaft Procédé de fourniture d'un service d'attribution de nom dans un système d'automatisation industrielle et commutateur
EP3544265A1 (fr) 2018-03-19 2019-09-25 Siemens Aktiengesellschaft Procédé de fourniture de services par l'intermédiaire d'un système serveur à des appareils d'automatisation d'un système d'automatisation industrielle et unité de configuration
EP3641278A1 (fr) 2018-10-17 2020-04-22 Siemens Aktiengesellschaft Procédé de fourniture d'une fonction de relais, en particulier de routage redondante, système, programme informatique et support lisible par ordinateur

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EP2955904A1 (fr) 2015-12-16
RU2625934C2 (ru) 2017-07-19
BR102015013321A2 (pt) 2016-07-19
US20150358278A1 (en) 2015-12-10
US10091162B2 (en) 2018-10-02
CN105306615A (zh) 2016-02-03
CN105306615B (zh) 2019-02-05
RU2015122119A (ru) 2017-01-10

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